JP2022156798A - Control device of linear solenoid valve - Google Patents

Abstract

To suppress a large variation of the output hydraulic pressure of a linear solenoid valve.SOLUTION: A hydraulic pressure command value of a linear solenoid valve is set. Subsequently, a current command value of a solenoid portion is set in such a manner that the current command value becomes large as the hydraulic pressure command value becomes large. Then, when a first condition that a current command value increase rate being an increase amount of the current command value per unit time is equal to or higher than a first threshold is not established, a dither command value of a first amplitude is set, and when the first condition is established, a dither command value of a second amplitude which is equal to or larger than zero, and smaller than the first amplitude is set. Furthermore, a current based on the current command value and the dither command values is supplied to the solenoid portion.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to a controller for a linear solenoid valve.

Conventionally, this type of technology converts the drive command value of the linear solenoid valve into the current command value of the linear solenoid valve, sets the dither command value including the dither current amplitude command, and converts the current flowing through the linear solenoid valve to the current command value. A drive device for a linear solenoid valve has been proposed that generates a PWM signal based on a command value and a dither command value and supplies the PWM signal to the linear solenoid valve (see, for example, Patent Document 1). In this device, the current flowing through the linear solenoid valve is compared with the current command value, and the dither command value is set according to the comparison result.

JP 2009-230463 A

A linear solenoid valve comprising a sleeve having an input port and an output port, a spool slidably disposed within the sleeve, and a solenoid portion for moving the spool within the sleeve based on supplied electric current, wherein the unit movement of the spool If the amplitude of the dither command value is large when the change in the amount of communication between the input port and the output port per volume is large, the amount of communication will fluctuate greatly, and the output hydraulic pressure of the linear solenoid valve may fluctuate greatly. have a nature.

A main object of the linear solenoid valve control device of the present disclosure is to suppress large fluctuations in the output hydraulic pressure of the linear solenoid valve.

The linear solenoid valve control device of the present disclosure employs the following means to achieve the above-described main object.

A control device for a first linear solenoid valve of the present disclosure includes a sleeve having an input port and an output port, a spool slidably arranged in the sleeve, and the input port and the A solenoid portion for moving the spool within the sleeve is provided on the side where the amount of communication with the output port increases, and when the amount of communication is greater than a predetermined amount and the amount of communication is equal to or less than the predetermined amount. A control device for a linear solenoid valve in which the amount of change in the amount of communication per unit movement of the spool is greater than that of a hydraulic command value setting unit for setting the hydraulic command value of the linear solenoid valve; a current command value setting unit that sets the current command value of the solenoid unit so that the current command value increases as the hydraulic pressure command value increases; When the above first condition is not satisfied, a dither command value of a first amplitude is set, and when the first condition is satisfied, a second dither command value of 0 or more and smaller than the first amplitude is set. A dither command value setting section for setting the dither command value for amplitude, and a current supply section for supplying the solenoid section with a current based on the current command value and the dither command value.

In the first linear solenoid valve control device of the present disclosure, a hydraulic pressure command value for the linear solenoid valve is set. Subsequently, the current command value for the solenoid portion is set so that it increases as the hydraulic pressure command value increases. Then, when the first condition that the current command value increase rate, which is the amount of increase in the current command value per unit time, is equal to or greater than the first threshold is not satisfied, the dither command value of the first amplitude is set, and the first condition is established, a dither command value with a second amplitude that is equal to or greater than 0 and smaller than the first amplitude is set. Furthermore, a current based on the current command value and the dither command value is supplied to the solenoid section. When the first condition is satisfied, there is a possibility that the amount of communication between the input port and the output port will be greater than the predetermined amount or already be. Therefore, when the first condition is satisfied, the amount of communication between the input port and the output port fluctuates greatly by controlling the current supplied to the solenoid section using the dither command value of the second amplitude, which is relatively small. It is possible to suppress large fluctuations in the output hydraulic pressure of the linear solenoid valve. Of course, when the first condition is not satisfied, the sliding resistance between the spool and the sleeve of the linear solenoid valve is reduced by controlling the current supplied to the solenoid section using a dither command value with a relatively large first amplitude. can be sufficiently reduced.

A control device for a second linear solenoid valve of the present disclosure includes a sleeve having an input port and an output port, a spool slidably arranged in the sleeve, and the greater the current supplied, the more the input port and the A solenoid portion for moving the spool within the sleeve is provided on the side where the amount of communication with the output port becomes smaller, and when the amount of communication is greater than a predetermined amount and the amount of communication is equal to or less than the predetermined amount. A control device for a linear solenoid valve in which the amount of change in the amount of communication per unit movement of the spool is greater than that of a hydraulic command value setting unit for setting the hydraulic command value of the linear solenoid valve; a current command value setting unit that sets the current command value of the solenoid unit so that the current command value decreases as the hydraulic pressure command value increases; When the above first condition is not satisfied, a dither command value of a first amplitude is set, and when the first condition is satisfied, a second dither command value of 0 or more and smaller than the first amplitude is set. A dither command value setting section for setting the dither command value for amplitude, and a current supply section for supplying the solenoid section with a current based on the current command value and the dither command value.

In the second linear solenoid valve control device of the present disclosure, the hydraulic pressure command value for the linear solenoid valve is set. Next, the current command value for the solenoid portion is set so that the greater the hydraulic pressure command value, the smaller the current command value. Then, when the first condition that the current command value decrease rate, which is the amount of decrease in the current command value per unit time, is equal to or greater than the first threshold is not satisfied, the dither command value of the first amplitude is set, and the first condition is established, a dither command value with a second amplitude that is equal to or greater than 0 and smaller than the first amplitude is set. Furthermore, a current based on the current command value and the dither command value is supplied to the solenoid section. When the first condition is satisfied, there is a possibility that the amount of communication between the input port and the output port will be greater than the predetermined amount or already be. Therefore, when the first condition is satisfied, the amount of communication between the input port and the output port fluctuates greatly by controlling the current supplied to the solenoid section using the dither command value of the second amplitude, which is relatively small. It is possible to suppress large fluctuations in the output hydraulic pressure of the linear solenoid valve. Of course, when the first condition is not satisfied, the sliding resistance between the spool and the sleeve of the linear solenoid valve is reduced by controlling the current supplied to the solenoid section using a dither command value with a relatively large first amplitude. can be sufficiently reduced.

1 is a schematic configuration diagram showing an ECU and a linear solenoid valve of the present disclosure; FIG. 1 is a schematic configuration diagram showing an ECU and a linear solenoid valve of the present disclosure; FIG. (a), (b), and (c) are cross-sectional views for explaining the operation of the linear solenoid valve of the present disclosure. 5 is a flowchart showing an example of dither amplitude setting processing repeatedly executed by a dither command value setting unit; FIG. 5 is an explanatory diagram showing an example of how the hydraulic engagement element is engaged in the present embodiment; FIG. 11 is an explanatory diagram showing an example of how the hydraulic engagement element is engaged in the comparative embodiment; 5 is a flowchart showing an example of dither amplitude setting processing repeatedly executed by a dither command value setting unit; FIG. 10 is an explanatory diagram showing an example of a state when a hydraulic engagement element is engaged when the linear solenoid valve is a normally open type linear solenoid valve; 1 is a schematic configuration diagram showing an ECU and a linear solenoid valve; FIG.

Next, embodiments for carrying out the invention of the present disclosure will be described with reference to the drawings.

1 and 2 are schematic configuration diagrams showing an electronic control unit (hereinafter referred to as "ECU") 6, which is a control apparatus of the present disclosure, and a linear solenoid valve SL controlled by the ECU 6. FIG. Each linear solenoid valve SL as shown in the figure, together with a primary regulator valve, a pressure regulating valve, a switching valve, a manual valve, etc., controls hydraulic pressure engagement elements such as clutches and brakes of a transmission mounted on a vehicle. It is built into the valve body of the hydraulic control device to perform.

In the present embodiment, the linear solenoid valve SL is a so-called direct linear solenoid valve that directly supplies pressure-regulated hydraulic fluid to the engagement oil chamber of the hydraulic engagement element. As shown in FIGS. 1 and 2, the linear solenoid valve SL includes a solenoid portion 2 and a valve portion 3 driven by the solenoid portion 2 to regulate the pressure of hydraulic oil. Also, the linear solenoid valve SL of the present embodiment is a normally closed linear solenoid valve that outputs hydraulic pressure when power is supplied to the solenoid portion 2 .

The solenoid portion 2 includes tubular first and second cores arranged side by side in the axial direction, tubular coils arranged so as to surround the first and second cores, and an axial coil inside the second core. a plunger movably disposed in the first core, a rod 20 movable in the axial direction in conjunction with the plunger within the first core, and a yoke (case) housing these members (Fig. 1 shows the rod 20 only). When a current flows through the coil of the solenoid portion 2, a magnetic flux circuit is formed that flows through the yoke, second core, plunger, and first core in this order. As a result, the plunger is attracted toward the first core, and in conjunction with the plunger, the rod 20 moves in a direction (to the left in FIG. 1) protruding from the first core. In this embodiment, the current supplied to the solenoid portion 2 is controlled by a PWM signal generated based on the hydraulic pressure command value.

As shown in FIG. 1, the valve portion 3 includes a substantially cylindrical sleeve 4 incorporated in the above-described valve body, and a spool 5 arranged axially slidably (movably) inside the sleeve 4. have. One end of the sleeve 4 (right end in the figure) is fixed to the solenoid portion 2 (yoke), and an end (left end in the figure) of the sleeve 4 opposite to the solenoid portion 2 side has an end portion. A cap CP that closes the is fixed (screwed). A spring (elastic member) SP is arranged inside the sleeve 4 so as to be positioned between the spool 5 and the cap CP. The spring SP is a coil spring in this embodiment, and biases the spool 5 toward the solenoid portion 2 (right side in FIG. 1).

As shown in FIG. 1, the sleeve 4 has an input port 4i, an output port 4o, a drain port 4d, and a feedback port 4f, each communicating with a corresponding oil passage formed in the valve body. The input port 4i is supplied with, for example, hydraulic oil (line pressure) discharged from an oil pump and then pressure-regulated by a regulator valve. Further, the hydraulic oil pressure-regulated by the linear solenoid valve SL flows out from the output port 4o to the hydraulic supply oil passage of the valve body. The hydraulic supply oil passage communicates with the engagement oil chamber of the hydraulic engagement element described above. Further, the drain port 4d communicates with the hydraulic fluid reservoir through the drain oil passage of the valve body, and the feedback port 4f communicates with the output port 4o through the oil passage formed in the valve body. In this embodiment, the input port 4i, the output port 4o, the drain port 4d, and the feedback port 4f are axially arranged in this order from the solenoid portion 2 side toward the spring SP (cap CP) side at intervals. is formed on the sleeve 4 at . That is, the input port 4i is formed closer to the solenoid portion 2 than the output port 4o, the drain port 4d is formed closer to the spring SP than the output port 4o, and the feedback port 4f is closer to the spring SP than the drain port 4d. formed in

Inside the sleeve 4, there are an input chamber 40i communicating with the input port 4i, an output chamber 40o communicating with the output port 4o, a drain chamber 40d communicating with the drain port 4d, and a feedback chamber 40f communicating with the feedback port 4f. are defined at intervals of . Furthermore, inside the sleeve 4, there are a first communication chamber 41 opening at an input chamber 40i and an output chamber 40o, a second communication chamber 42 opening at an output chamber 40o and a drain chamber 40d, a drain chamber 40d and a feedback chamber 40f. A third communication chamber 43 that opens at . The input chamber 40i, the output chamber 40o, the drain chamber 40d, and the feedback chamber 40f are circular cross-sectional space portions having the same inner diameter (cross-sectional area). The first to third communication chambers 41, 42, and 43 are circular cross-sectional space portions having the same inner diameter (cross-sectional area) as each other and smaller than the inner diameter (cross-sectional area) of the input chamber 40i and the like. The input chamber 40i, the output chamber 40o, the drain chamber 40d, the feedback chamber 40f, and the first to third communication chambers 41, 42, 43 coaxially extend along the axis of the sleeve 4. As shown in FIG.

1, the spool 5 has four lands 51, 52, 53 and 54, a first shaft portion 5a between the lands 51 and 52, and a second shaft portion 5b between the lands 52 and 53. , and a third shaft portion 5c between the lands 53 and 54. The lands 51, 52 and 53 are formed in a cylindrical shape having the same outer diameter (cross-sectional area), and the land 54 has an outer diameter (cross-sectional area) smaller than the outer diameter (cross-sectional area) of the lands 51-53. It is formed in a columnar shape. The outer diameters of the lands 52 and 53 are set to values slightly smaller than the inner diameters of the first to third communication chambers 41 , 42 , 43 of the sleeve 4 . Furthermore, in this embodiment, the land 52 of the spool 5 has an axial length that is longer than the axial length of the output chamber 40o of the sleeve 4 . The first to third shaft portions 5a-5c are formed in a cylindrical shape having an outer diameter (cross-sectional area) smaller than at least the outer diameter (cross-sectional area) of the lands 52 and 53. As shown in FIG. The lands 51-54 and the first through third shaft portions 5a-5c extend coaxially with each other along the axis of the spool 5. As shown in FIG.

A land 51 of the spool 5 is slidably disposed in a hole (circular hole) formed in the sleeve 4 so as to communicate with the input chamber 40i on the solenoid portion 2 side. A contact portion 50 that contacts the rod 20 of the solenoid portion 2 and a stopper portion 5s are formed at the tip of the land 51 (the right end in FIG. 1). Further, the land 54 of the spool 5 is slidably disposed in a hole (circular hole) formed in the sleeve 4 so as to communicate with the feedback chamber 40f on the spring SP (cap CP) side. The spring SP described above is arranged between CP. As a result, the spool 5 is slidably disposed inside the sleeve 4 and urged toward the solenoid portion 2 by the spring SP. As the spool 5 moves, the land 52 of the spool 5 changes the state of communication between the input port 4i and the output port 4o of the sleeve 4 and the state of communication between the output port 4o and the drain port 4d.

In the linear solenoid valve SL configured as described above, when power is not supplied to the coil of the solenoid portion 2, as shown in FIGS. is pressed against the plunger of the solenoid portion 2 by the biasing force of . As a result, as shown in FIG. 3A, the end surface 52i of the land 52 of the spool 5 on the side of the input chamber 40i is located in the first communication chamber 41, and the end surface 52d of the land 52 on the side of the drain chamber 40d is output. Located in chamber 40o. By positioning the end surface 52i of the land 52 on the input chamber 40i side within the first communication chamber 41, the input port 4i and the output port 4o form the sleeve 4 defining the outer peripheral surface of the land 52 and the first communication chamber 41. communicates through a slight clearance with the inner peripheral surface of the Furthermore, the output chamber 40o and the drain chamber 40d communicate with each other through the second communication chamber 42 with a sufficient amount of communication by positioning the end face 52d of the land 52 on the drain chamber 40d side within the output chamber 40o. Hereinafter, such a state of the linear solenoid valve SL will be referred to as a "first state".

When current is supplied to the solenoid portion 2 and the rod 20 moves toward the spring SP together with the plunger, the spool 5 is pushed by the rod 20 and moves toward the spring SP (cap CP) against the biasing force of the spring SP. . In the linear solenoid valve SL, when the spool 5 moves toward the spring SP, as shown in FIG. , the end face 52d of the land 52 on the side of the drain chamber 40d is located in the second communication chamber 42 across the boundary between the output chamber 40o and the second communication chamber 42. As shown in FIG. By positioning the end surface 52i of the land 52 on the input chamber 40i side within the first communication chamber 41, the input port 4i and the output port 4o form the sleeve 4 defining the outer peripheral surface of the land 52 and the first communication chamber 41. communicates through a slight clearance with the inner peripheral surface of the Furthermore, by positioning the end face 52d of the land 52 on the drain chamber 40d side within the second communication chamber 42, the output port 4o and the drain port 4d define the outer peripheral surface of the land 52 and the second communication chamber 42. It communicates with the inner peripheral surface of the sleeve 4 through a slight clearance. Hereinafter, such a state of the linear solenoid valve SL will be referred to as a "second state".

When the current supplied to the solenoid portion 2 further increases and the spool 5 is further pressed by the rod 20 and moves toward the spring SP (cap CP), a land 52 is formed as shown in FIG. 3(c). While the end face 52d on the drain chamber 40d side of the land 52 is located in the second communication chamber 42, the end face 52i on the input chamber 40i side of the land 52 crosses the boundary between the first communication chamber 41 and the output chamber 40o and extends into the output chamber 40o. Located in Since the end surface 52i of the land 52 is positioned within the output chamber 40o, the input chamber 40i and the output chamber 40o communicate with each other through the first communication chamber 41 with a sufficient amount of communication. Furthermore, by positioning the end face 52d of the land 52 on the drain chamber 40d side within the second communication chamber 42, the output port 4o and the drain port 4d define the outer peripheral surface of the land 52 and the second communication chamber 42. It communicates with the inner peripheral surface of the sleeve 4 through a slight clearance. Hereinafter, such a state of the linear solenoid valve SL will be referred to as a "third state".

Hereinafter, the amount of movement of the spool 5 of the valve portion 3 of the linear solenoid valve SL from the initial position (position in the first state) is referred to as "stroke amount S1". Further, the stroke amount S1 when the end surface 52i of the land 52 of the spool 5 on the input chamber 40i (input port 4i) side is located at the boundary between the first communication chamber 41 and the output chamber 40o (output port 4o) is defined as "predetermined stroke quantity Sref1”. The amount of communication between the input port 4i and the output port 4o of the sleeve 4 is a predetermined amount (the land 52 clearance between the outer peripheral surface and the inner peripheral surface of the sleeve 4 defining the first communication chamber 41), and when the stroke amount S1 is larger than the predetermined stroke amount Sref1 (in the third state), the stroke As the amount S1 increases, it gradually increases from the predetermined amount. Therefore, when the stroke amount S1 is greater than the predetermined stroke amount Sref1, the input chamber of the sleeve 4 per unit movement amount of the spool 5 of the valve portion 3 is larger than when the stroke amount S1 is equal to or less than the predetermined stroke amount Sref1. The amount of change in the amount of communication between 40i and the output chamber 40o, and thus the amount of change in the output oil pressure from the output port 4o of the linear solenoid valve SL, increases.

Each linear solenoid valve SL is driven by electric power from an auxiliary battery 90 as a power supply mounted on the vehicle, as shown in FIG. Auxiliary battery 90 is, for example, a lead-acid battery having a rated voltage of 12V.

The ECU 6 has a microcomputer including a CPU, a ROM, a RAM, an input/output interface, etc., and various logic ICs (all not shown). The ECU 6 detects an accelerator opening Acc indicating the depression amount of the accelerator pedal of the vehicle detected by an accelerator pedal position sensor (not shown), a vehicle speed V detected by a vehicle speed sensor (not shown), and a voltage sensor (not shown). The voltage Vbat of the auxiliary battery 90, the temperature of hydraulic oil (oil temperature) Toil detected by a temperature sensor (not shown), and the like are inputted. Instead of the vehicle speed V, the ECU 6 may receive the rotation speed (output rotation speed) Nout of the output shaft of the transmission detected by a rotation speed sensor (not shown).

As shown in FIG. 2, the ECU 6 includes at least one of hardware such as a CPU, ROM, RAM, and various logic ICs, and software such as various programs installed in the ROM. , and a plurality of valve drive control units 70 connected to the corresponding linear solenoid valves SL are constructed as functional blocks (modules). Note that FIG. 2 shows only one valve drive control unit 70 for the sake of simplicity of explanation.

The arithmetic processing unit 60 has a hydraulic pressure command value setting unit 61 and a current command value setting unit 62 . The hydraulic pressure command value setting unit 61 inputs the accelerator opening Acc from the accelerator pedal position sensor and the vehicle speed V from the vehicle speed sensor, and based on the input accelerator opening Acc and vehicle speed V, the output port of each linear solenoid valve SL. A hydraulic pressure command value Ps*, which is a command value for the output hydraulic pressure from 4o, is set. A current command value setting unit 62 is a command value for current to be supplied to the solenoid portion 2 of each linear solenoid valve SL based on the hydraulic pressure command value Ps* of each linear solenoid valve set by the hydraulic pressure command value setting unit 61. Set the current command value Is*. Specifically, the current command value Is* is set so as to increase as the hydraulic pressure command value Ps* increases. Here, the update cycle of the current command value Is* by the current command value setting unit 62 is set longer than the cycle of the dither command value Vdiz (dither cycle Tdiz) described later.

Each valve drive control section 70 has a target voltage setting section 71 , a dither command value setting section 72 , a current supply section 73 , a current detection section 77 and a filter processing section 78 . The current supply section 73 has a voltage superimposition section 74 , a PWM signal generation section 75 and a drive circuit 76 .

The target voltage setting unit 71 has a feedback control unit, a feedforward control unit, and an addition unit, and outputs the sum of the feedback voltage obtained by the feedback control and the feedforward voltage obtained by the feedforward control unit to the linear solenoid valve. A target voltage Vtag, which is the target value of the voltage to be applied to the solenoid portion 2 of the SL, is output. The feedback control unit outputs the current command value Is* set by the current command value setting unit 62, the processed current Isf obtained by filtering the current Is detected by the current detection unit 77 by the filter processing unit 78, A feedback voltage is calculated and output by feedback control (PI control or PID control) so that the difference between is canceled. For example, the feedback control unit calculates and outputs the sum of a proportional term and an integral term based on the difference between the post-processing current Isf and the current command value Is* as the feedback voltage. The feedforward control section calculates and outputs a feedforward voltage through feedforward control based on the current command value Is* set by the current command value setting section 62 . For example, the feedforward control unit calculates the current command value Is*, the resistance value (estimated value) of the solenoid unit 2 calculated from the previous value of the target voltage Vtag in consideration of the oil temperature Toil, and the current command value Is*. , is output as a feedforward voltage. Note that the target voltage setting unit 71 may not have the feedforward control unit and the addition unit, that is, output the feedback voltage as the target voltage Vtag.

The dither command value setting unit 72 sets the dither amplitude Adiz based on the current command value Is* set by the current command value setting unit 62, and sets the voltage command value Vs*, which will be described later, to the target voltage Vtag at a dither cycle Tdiz It also generates a dither command value Vdiz for varying the dither amplitude Adiz, for example, sinusoidally. Here, the dither cycle Tdiz is set shorter than the update cycle of the current command value Is* by the current command value setting unit 62 and longer than the cycle (PWM cycle) of the PWM signal generated by the PWM signal generation unit 75. be done. A method for setting the dither amplitude Adiz will be described later.

The voltage superimposing unit 74 superimposes the dither command value Vdiz set by the dither command value setting unit 72 on the target voltage Vtag set by the target voltage setting unit 71 to generate the voltage command value Vs*. That is, the voltage superimposition unit 74 generates the voltage command value Vs* by varying the target voltage Vtag with the dither amplitude Adiz and the dither period Tdiz.

The PWM signal generator 75 generates a PWM signal whose pulse width is modulated based on the voltage command value Vs* generated by the voltage superimposing unit 74 and the voltage Vbat of the auxiliary battery 90 for each PWM cycle, and outputs the PWM signal to the drive circuit. output to 76. In the present embodiment, the PWM signal generator 75 reduces the duty ratio of the PWM signal as the voltage Vbat of the auxiliary battery 90 is higher and as the hydraulic Toil is higher, that is, as the resistance value of the solenoid section 2 is lower. The period of the PWM signal is set shorter than the dither period Tdiz.

The drive circuit 76 has first and second switching elements SW1 and SW2, each of which is a MOSFET. The drain of the first switching element SW1 is connected to the positive electrode of the auxiliary battery 90, the source of the first switching element SW1 and the drain of the second switching element SW2 are connected to each other, and the source of the second switching element SW2 is It is grounded via a shunt resistor (not shown) of the current detector 77 . The source of the first switching element SW1 and the drain of the second switching element SW2, which are connected to each other, and the source of the second switching element SW2 are connected to the solenoid portion 2 of the linear solenoid valve SL. Furthermore, the gates of the first and second switching elements SW1 and SW2 are connected to the PWM signal generator 75 . The first and second switching elements SW1 and SW2 may be bipolar transistors or IGBTs instead of MOSFETs.

In the driving circuit 76, when the first switching element SW1 is turned on and the second switching element SW2 is turned off by the PWM signal from the PWM signal generating section 75, the voltage Vbat of the auxiliary battery 90 changes to that of the linear solenoid valve SL. The voltage is applied to the solenoid portion 2 (coil), and an electromotive current flows through the solenoid portion 2 . On the other hand, when the PWM signal from the PWM signal generator 75 turns off the first switching element SW1 and turns on the second switching element SW2, the solenoid portion 2 (coil) of the linear solenoid valve SL is grounded. , a back electromotive current flows through the solenoid portion 2 .

The current detection unit 77 includes a shunt resistor, one end of which is connected to the source of the second switching element SW2 and the other end of which is grounded, and an operational amplifier that detects the voltage between the second switching element SW2 side and the ground side of the shunt resistor. , and an A/D converter that converts the output of the operational amplifier (voltage analog signal) into an analog signal of the current value flowing through the linear solenoid valve SL and further converts it into a digital signal (current value Is) (not shown). ).

The filter processing unit 78 filters the current value Is detected by the current detection unit 77 to remove the frequency component of the dither cycle Tdiz, and outputs the processed current Isf to the target voltage setting unit 71 . The filter processing unit 78 may be any filter processing that can remove the frequency component of the dither period Tdiz.

By the function block of the ECU 6, the electric current supplied to the solenoid portion 2 of each linear solenoid valve SL is changed at the dither cycle Tdiz to vibrate the plunger, the rod 20 and the spool 5 of each linear solenoid valve SL. By reducing the sliding resistance with the sleeve 4, it is possible to reduce the responsiveness of the linear solenoid valve SL and the variation in response.

Next, a process of setting the dither amplitude Adiz by the dither command value setting section 72 of the ECU 6 will be described. FIG. 4 is a flowchart showing an example of dither amplitude setting processing that is repeatedly executed by the dither command value setting unit 72. As shown in FIG.

In the dither amplitude setting process of FIG. 4, the dither command value setting unit 72 first inputs the current command value Is* set by the current command value setting unit 62 (step S100). , the current command value increase rate Iup, which is the amount of increase in the current command value Is* per unit time, is calculated (step S110). Here, the current command value increase rate Iup is calculated by, for example, dividing a value obtained by subtracting the previous current command value (previous Is*) from the current command value Is* by the input cycle Δts of the current command value Is*. be done.

Subsequently, it is determined whether or not the current command value increase rate Iup is equal to or greater than the threshold value Iupref1 (first condition is satisfied) (step S120), and the current command value increase rate Iup is equal to or greater than the threshold value Iupref1 (first condition is satisfied), it is determined whether or not the current command value increase rate Iup is equal to or greater than the threshold Iupref2, which is larger than the threshold Iupref1 (the second condition is satisfied) (step S130).

Here, the threshold value Iupref1 is set so that the stroke amount S1 of the linear solenoid valve SL reaches from the side smaller than the predetermined stroke amount Sref1 to the side near the predetermined stroke amount Sref1 or larger, or is already near or above the predetermined stroke amount Sref1. This is a threshold value used to determine whether there is a possibility of being on the larger side (hereinafter referred to as "first possibility"), and is determined in advance by experiments and analyses. The threshold value Iupref2 is set so that the stroke amount S1 of the linear solenoid valve SL moves from the side smaller than the predetermined stroke amount Sref1 to the area near the predetermined stroke amount Sref1 or larger in an extremely short time, and the current command value increase rate Iup is extremely short. It is a threshold used to determine the presence or absence of the possibility (hereinafter referred to as "second possibility") that the threshold Iupref is greater than or equal to the threshold Iupref1 for only a short period of time (the first condition is satisfied only for an extremely short time). Determined. When the linear solenoid valve SL is a normally open linear solenoid valve, the stroke amount S1 increases as the current supplied to the solenoid portion 2 increases. The amount of change in the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 per unit movement of the spool 5 of the valve portion 3 compared to when the amount S1 is equal to or less than the predetermined stroke amount Sref1, and thus the linear The amount of change in the output oil pressure from the output port 4o of the solenoid valve SL increases. The processing of steps S120 and S130 is performed in consideration of this.

When it is determined in step S120 that the current command value increase rate Iup is less than the threshold value Iupref1 (the first condition is not satisfied), it is determined that there is no first possibility, and the dither amplitude Adiz has a relatively large first amplitude. Amplitude normal processing for setting Adiz1 is executed (step S240), and this processing ends. By executing the normal amplitude process, the voltage command value Vs* generated by the voltage superimposition unit 74 fluctuates with a relatively large amplitude, and the current supplied to the solenoid unit 2 of the linear solenoid valve SL by the drive circuit 76 is compared. It fluctuates with a relatively large amplitude, and the spool 5 of the valve portion 3 vibrates with a relatively large amplitude. As a result, the sliding resistance between the spool 5 and the sleeve 4 of the valve portion 3 of the linear solenoid valve SL can be sufficiently reduced, and the deterioration of the responsiveness of the linear solenoid valve SL and the deterioration of response variation can be sufficiently suppressed. .

In step S120, it is determined that the current command value increase rate Iup is equal to or greater than the threshold value Iupref1 (the first condition is met), and in step S130, the current command value increase rate Iup is less than the threshold value Iupref2 (the second condition is met). ), it is determined that there is the first possibility and there is no second possibility, and the dither amplitude Adiz is set to a second amplitude Adiz2 that is greater than or equal to 0 and smaller than the first amplitude Adiz1. A reduction process is executed, that is, the normal vibration process is shifted to the vibration reduction process (step S140). By executing the amplitude reduction process, the amplitude of the variation in the voltage command value Vs* generated by the voltage superimposing unit 74 becomes smaller than when the normal amplitude process is executed, and the drive circuit 76 causes the linear solenoid valve SL The amplitude of the fluctuation of the current supplied to the solenoid portion 2 of the valve portion 3 becomes smaller, and the amplitude of the vibration of the spool 5 of the valve portion 3 becomes smaller. As a result, when the stroke amount S1 fluctuates near or larger than the predetermined stroke amount Sref1, the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 is suppressed from greatly fluctuating. As a result, it is possible to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL.

Then, similarly to the processing of steps S100 and S110, the current command value Is* is input and the current command value increase rate Iup is calculated (steps S150 and S160). Then, it is determined whether or not the calculated current command value increase rate Iup is less than the threshold value Iupref1 (the satisfaction of the first condition is canceled) (step S170). When it is determined that there is (the satisfaction of the first condition is not resolved), the process returns to step S150. In this way, it waits until the current command value increase rate Iup reaches less than the threshold value Iupref1 (the satisfaction of the first condition is canceled). Then, when it is determined in step S170 that the current command value increase rate Iup is less than the threshold value Iupref1 (the satisfaction of the first condition is resolved), the dither amplitude Adiz is set to the first amplitude Adiz1. The process proceeds to normal amplitude processing (step S240), and ends this processing.

In step S120, it is determined that the current command value increase rate Iup is equal to or greater than the threshold value Iupref1 (the first condition is met), and in step S130, the current command value increase rate Iup is equal to or greater than the threshold value Iupref2 (the second condition is met). ), it is determined that there are the first possibility and the second possibility, and the dither amplitude Adiz is set to the second amplitude Adiz2 in the same manner as in the process of step S140, that is, the amplitude is reduced from the normal amplitude process. As the process proceeds (step S180), the measurement of the duration Td of the amplitude reduction process is started (step S190). By executing the amplitude reduction process, as described above, when the stroke amount S1 fluctuates near or larger than the predetermined stroke amount Sref1, the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 It is possible to suppress large fluctuations in the communication amount of the linear solenoid valve SL, and to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL.

Subsequently, similarly to the processing of steps S100 and S110, the current command value Is* is input and the current command value increase rate Iup is calculated (steps S200 and S210). Then, it is determined whether or not the calculated current command value increase rate Iup is less than the above threshold value Iupref1 (the satisfaction of the first condition is resolved) (step S220), and the duration Td of the amplitude reduction process is set to a predetermined time. It is determined whether or not the current command value increase rate Iup is equal to or greater than Tdref1 (step S230), and when it is determined that the current command value increase rate Iup is equal to or greater than the threshold value Iupref1 (the satisfaction of the first condition is not resolved), the amplitude reduction process is continued. When it is determined that the time Td is less than the predetermined time Tdref1, the process returns to step S200. In this way, it waits until the current command value increase rate Iup reaches less than the threshold value Iupref1 (the satisfaction of the first condition is canceled) and the duration time Td of the amplitude reduction process reaches the predetermined time Tdref1 or more. Then, in step S220, it is determined that the current command value increase rate Iup is less than the threshold value Iupref1 (the satisfaction of the first condition is resolved), and in step S230, it is determined that the duration Td of the amplitude reduction process is equal to or greater than the predetermined time Tdref1. Then, the dither amplitude Adiz is set to the first amplitude Adiz1, that is, the amplitude reduction process is shifted to the normal amplitude process (step S240), and the process is terminated.

Here, the predetermined time Tdref1 is set in consideration of the controllability of the linear solenoid valve SL. When the current command value increase rate Iup is equal to or greater than the threshold value Iupref2, there is a possibility that the current command value increase rate Iup is equal to or greater than the threshold value Iupref1 for an extremely short time (the first condition is satisfied for an extremely short time). Therefore, when the current command value increase rate Iup becomes less than the threshold value Iupref1 (the satisfaction of the first condition is canceled), the amplitude reduction process immediately shifts to the normal amplitude process regardless of the duration time Td of the amplitude reduction process. In this case, there is a possibility that the controllability of the spool 5 of the valve portion 3 of the linear solenoid valve SL will deteriorate due to normal amplitude processing, extremely short amplitude reduction processing, and normal amplitude processing. On the other hand, in the present embodiment, when the current command value increase rate Iup reaches the threshold Iupref2 or more (both the first condition and the second condition are satisfied) and the normal amplitude process shifts to the amplitude reduction process, the current command value The amplitude reduction process is continued until the value increase rate Iup becomes less than the threshold value Iupref1 (the satisfaction of the first condition is canceled) and the duration time Td of the amplitude reduction process reaches the predetermined time Tdref1 or more. As a result, deterioration in the controllability of the spool 5 of the valve portion 3 of the linear solenoid valve SL can be suppressed.

Next, the operation when engaging the hydraulic engagement element corresponding to the linear solenoid valve SL will be described. 5 and 6 show, respectively, the current command value Is*, the current command value increase rate Iup, the dither amplitude Adiz, the stroke amount S1, and the stroke amount when engaging the hydraulic engagement element in the present embodiment and the comparative embodiment. FIG. 10 is an explanatory diagram showing an example of an average value S1av, a hydraulic pressure command value Ps*, an output hydraulic pressure Ps, and an output hydraulic pressure average value Psav; The stroke amount average value S1av and the output hydraulic pressure average value Psav are the average values per unit time of the stroke amount S1 and the output hydraulic pressure Ps, respectively. In the comparative embodiment, the dither amplitude Adiz is set to the first amplitude Adiz1 (normal amplitude processing is executed) regardless of the current command value increase rate Iup.

As shown in FIGS. 5 and 6, when the hydraulic engagement element is engaged, filling processing (time t11 to t12), standby processing (time t12 to t13), pressure increasing processing (time t13 to t14 ), and holding processing (from time t14) are executed in this order. In the present embodiment, the threshold Iupref1 for engaging the hydraulic engagement element is such that the current command value increase rate Iup is equal to or greater than the threshold Iupref1 during the filling process and the pressure increasing process, and the standby process and the holding process. When , the current command value increase rate Iup is set to be less than the threshold value Iupref1. Further, the threshold value Iupref2 for engaging the hydraulic engagement element is such that the current command value increase rate Iup is equal to or greater than the threshold value Iupref2 during the filling process, and the current command value is equal to or greater than the threshold value Iupref2 during the standby process, the pressure increasing process, and the holding process. The value increase rate Iup is set to be less than the threshold value Iupref2. Further, the predetermined time Tdref1 is set as the filling process time.

The filling process is a process for changing the hydraulic pressure command value Ps* so that the engagement oil chamber of the hydraulic engagement element is rapidly filled with hydraulic oil. is increased to a relatively high value and held. At this time, the current command value Is* increases sharply from zero to a relatively high value and is held, similarly to the hydraulic pressure command value Ps*. When increasing, it becomes equal to or higher than the threshold value Iupref2 for an extremely short period of time from zero, and then returns to approximately zero. Further, as the current command value Is* sharply increases from zero to a relatively high value and is held, the stroke amount average value S1av sharply increases from zero to near the predetermined stroke amount Sref1 and is held, The output hydraulic pressure average value Psav gradually increases from zero.

Here, the stroke amount S1 acts on the spool 5 due to the thrust (leftward force in FIG. 3) generated by the current supplied to the solenoid portion 2, the biasing force of the spring SP, and the hydraulic pressure supplied to the feedback chamber 40f. It is based on the relationship with the thrust (both rightward forces in FIG. 3). During the filling process, the output hydraulic pressure average value Psav is low, and the hydraulic pressure of the feedback port 4f (feedback chamber 40f) communicating with the output port 4o through the oil passage formed in the valve body is also low. When Iup reaches threshold Iupref2 or more and then falls below threshold Iupref1 and current command value Is* is held at a relatively high value, stroke amount average value S1av is held near predetermined stroke amount Sref1.

The standby process is a process of abruptly decreasing the hydraulic pressure command value Ps* from a relatively high value for the filling process to a relatively low standby pressure and holding it. At this time, the current command value Is*, like the oil pressure command value Ps*, decreases steeply from a relatively high value for the filling process to a relatively low value and is maintained. When the command value Is* sharply decreases, the absolute value becomes relatively large within a negative range from approximately zero for an extremely short period of time, and then returns to approximately zero. Further, as the current command value Is* decreases from a relatively high value for the filling process to a relatively low value and is held, the stroke amount average value S1av decreases from near the predetermined stroke amount Sref1 and is held. , the output hydraulic pressure average value Psav gradually increases and approaches the hydraulic pressure command value Ps*.

The pressure increasing process is a process of gradually increasing the hydraulic pressure command value Ps* so that the hydraulic engagement element is engaged. Specifically, the hydraulic pressure command value Ps* is increased at a substantially constant rate of increase. At this time, the current command value Is* increases at a substantially constant rate of increase similarly to the hydraulic pressure command value Ps*, and the current command value increase rate Iup becomes a value equal to or greater than the threshold Iupref1 and less than the threshold Iupref2. Further, as the current command value Is* gradually increases, the stroke amount average value S1av increases from a relatively small value during the standby process to near the predetermined stroke amount Sref1 and is held, and the output hydraulic pressure average value Psav gradually increases from a relatively small value during standby processing. Incidentally, when the output hydraulic pressure Ps from the output port 4o increases, the hydraulic pressure at the feedback port 4f (feedback chamber 40f) also increases.

The holding process is a process for holding the hydraulic pressure command value Ps*. At this time, the current command value Is* is held similarly to the hydraulic pressure command value Ps*, and the current command value increase rate Iup becomes substantially zero. Further, since the current command value Is* is maintained and the hydraulic pressure in the feedback chamber 40f is high, the stroke amount average value S1av is reduced to some extent from the vicinity of the predetermined stroke amount Sref1 and is maintained.

In the comparative example, as shown in FIG. 6, the dither amplitude Adiz is set to the first amplitude Adiz1 regardless of the current command value increase rate Iup (normal amplitude processing is executed). Therefore, when the stroke amount S1 fluctuates near or larger than the predetermined stroke amount Sref1 in the filling process or the pressure increasing process, the connection between the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 is prevented. The amount of flow fluctuates greatly, and the output oil pressure from the output port 4o of the linear solenoid valve SL fluctuates greatly.

On the other hand, in the present embodiment, as shown in FIG. 5, when the current command value increase rate Iup reaches the threshold value Iupref2 or more in the filling process at time t11 (when the first condition and the second condition are satisfied), Execute amplitude reduction processing. As a result, when the stroke amount S1 fluctuates around the predetermined stroke amount Sref1 in the filling process, the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 is suppressed from fluctuating greatly. , it is possible to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL. Further, when the current command value increase rate Iup reaches the threshold value Iupref2 or more in the filling process (the first condition and the second condition are satisfied) and the amplitude reduction process is started, the current command value increase rate Iup becomes less than the threshold value Iupref1. By continuing the amplitude reduction process (time t11 to t12) until the duration time Td of the amplitude reduction process reaches the predetermined time Tdref1 or more, the valve portion of the linear solenoid valve SL 3 can be suppressed from deteriorating in controllability of the spool 5. During the filling process, as described above, when the current command value increase rate Iup becomes less than the threshold value Iupref1 after becoming equal to or greater than the threshold value Iupref2, and the current command value Is* is held at a relatively high value. , the output hydraulic pressure average value Psav is low and the hydraulic pressure at the feedback port 4f is low, so the stroke amount average value S1av is held near the predetermined stroke amount Sref1. From this point of view as well, it is significant to continue the amplitude reduction process until the duration Td of the amplitude reduction process reaches the predetermined time Tdref1 or more.

Further, when the current command value increase rate Iup reaches the threshold value Iupref1 or more in the pressure increasing process at time t13, the amplitude reducing process is executed. As a result, when the stroke amount S1 fluctuates around the predetermined stroke amount Sref1 in the pressure increasing process, the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 is suppressed from fluctuating greatly. , it is possible to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL.

As described above, when the linear solenoid valve SL is a normally closed linear solenoid valve, the ECU 6, when the current command value increase rate Iup is less than the threshold value Iupref1 (the first condition is not satisfied), Amplitude normal processing is executed to set the first amplitude Adiz1 to the dither amplitude Adiz. In addition, amplitude reduction processing is executed to set a second amplitude Adiz2 smaller than the first amplitude Adiz1. Then, current is supplied to the solenoid portion 2 based on the target voltage Vtag based on the current command value Is* based on the hydraulic pressure command value Ps* and the dither command value Vdiz of the dither amplitude Adiz. By such processing, when the stroke amount S1 fluctuates near or larger than the predetermined stroke amount Sref1, the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 fluctuates greatly. It is possible to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL.

In the above-described embodiment, when the current command value increase rate Iup becomes equal to or greater than the threshold value Iupref1 and less than the threshold value Iupref2 (when the first condition is satisfied and the second condition is not satisfied) and the amplitude reduction process is started, the current When the command value increase rate Iup becomes less than the threshold value Iupref1 (when the first condition is no longer satisfied), the vibration reduction process is terminated. However, in this case, the vibration reduction process may be terminated when a predetermined time has elapsed since the current command value increase rate Iup became less than the threshold value Iupref1. The predetermined time is shorter than the above-described predetermined time Tdref1, for example, about 1 to 3 times the dither cycle Tdiz.

In the embodiment described above, the linear solenoid valve SL is assumed to be a normally closed linear solenoid valve. However, the linear solenoid valve SL may be a normally open linear solenoid valve. As a hardware configuration when the linear solenoid valve SL is a normally open type linear solenoid valve, it has the same sleeve 4 and spool 5 as the linear solenoid valve SL of FIG. 1 to move the spool 5 to the right side in FIG. 1 against the biasing force of the spring SP when the solenoid portion 2 is supplied with current. For ease of explanation, the same reference numerals as those of the linear solenoid valve SL in FIG. 1 are used for explanation.

Hereinafter, the amount of movement of the spool 5 of the valve portion 3 of the linear solenoid valve SL from the initial position is referred to as "stroke amount S2". Further, the stroke amount S2 when the end surface 52i of the land 52 of the spool 5 on the input chamber 40i side is positioned at the boundary between the first communication chamber 41 and the output chamber 40o is referred to as "predetermined stroke amount Sref2". When the stroke amount S2 is smaller than the predetermined stroke amount Sref2, the amount of communication between the input port 4i and the output port 4o of the sleeve 4 increases as the stroke amount S2 increases. 41), the stroke gradually decreases toward the predetermined amount, and when the stroke amount S2 is equal to or greater than the predetermined stroke amount Sref2, the predetermined amount becomes. Therefore, when the stroke amount S2 is smaller than the predetermined stroke amount Sref2, the input chamber of the sleeve 4 per unit movement amount of the spool 5 of the valve portion 3 is larger than when the stroke amount S2 is equal to or larger than the predetermined stroke amount Sref2. The amount of change in the amount of communication between 40i and the output chamber 40o, and thus the amount of change in the output oil pressure from the output port 4o of the linear solenoid valve SL, increases.

When the linear solenoid valve SL is a normally open linear solenoid valve, the ECU 6 is formed with functional blocks as shown in FIG. 2, as in the case where the linear solenoid valve SL is a normally closed linear solenoid valve. However, the current command value setting unit 62 sets the current command value of the solenoid part 2 of each linear solenoid valve SL so that the larger the hydraulic pressure command value Ps* of each linear solenoid valve set by the hydraulic pressure command value setting unit 61, the smaller the current command value. Set Is*.

7 instead of the dither amplitude setting process of FIG. The dither amplitude setting process of FIG. , is the same as the dither amplitude setting process of FIG. Therefore, among the dither amplitude setting processes shown in FIG. 7, the same steps as the dither amplitude setting processes shown in FIG. 4 are assigned the same step numbers, and detailed description thereof will be omitted.

In the dither amplitude setting process of FIG. 7, when the current command value Is* is input in step S100, the dither command value setting unit 72 calculates the current command value Is* per unit time based on the input current command value Is*. A current command value decrease rate Idn, which is the amount of decrease, is calculated (step S112). Here, the current command value decrease rate Idn is calculated by, for example, dividing a value obtained by subtracting the current command value Is* from the previous current command value (previous Is*) by the input cycle Δts of the current command value Is*. be done.

Subsequently, it is determined whether or not the current command value decrease rate Idn is equal to or greater than the threshold Idnref1 (first condition is satisfied) (step S122), and the current command value decrease rate Idn is equal to or greater than the threshold Idnref1 (first condition is satisfied), it is determined whether or not the current command value reduction rate Idn is equal to or greater than the threshold Idnref2, which is larger than the threshold Idnref1 (the second condition is satisfied) (step S132).

Here, the threshold value Idnref1 is set so that the stroke amount S2 of the linear solenoid valve SL reaches from the side where the stroke amount S2 of the linear solenoid valve SL is greater than the vicinity of the predetermined stroke amount Sref2 to the vicinity of the predetermined stroke amount Sref2 or the side smaller than the predetermined stroke amount Sref2 or is already near or below the predetermined stroke amount Sref2. This is a threshold used to determine whether there is a possibility of being on the smaller side (hereinafter referred to as "third possibility"), and is determined in advance by experiments and analyses. The threshold value Idnref2 is set so that the stroke amount S2 of the linear solenoid valve SL moves from the side larger than the vicinity of the predetermined stroke amount Sref2 to the vicinity of the predetermined stroke amount Sref2 or smaller in an extremely short time, and the current command value reduction rate Idn is extremely short. It is a threshold used to determine the presence or absence of the possibility (hereinafter referred to as the "fourth possibility") that the threshold Idnref is equal to or greater than the threshold Idnref1 for only a short period of time (the first condition is satisfied only for a very short time). Determined. When the linear solenoid valve SL is a normally open linear solenoid valve, the stroke amount S2 decreases as the current supplied to the solenoid portion 2 decreases. The amount of change in the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 per unit movement of the spool 5 of the valve portion 3 compared to when the amount S2 is equal to or greater than the predetermined stroke amount Sref2, and thus linear The amount of change in the output oil pressure from the output port 4o of the solenoid valve SL increases. The processes of steps S122 and S132 are performed in consideration of this.

When it is determined in step S122 that the current command value decrease rate Idn is less than the threshold value Idnref1 (the first condition is not satisfied), it is determined that there is no third possibility, and the dither amplitude Adiz is set to a relatively large first amplitude. Vibration normal processing for setting Adiz1 is executed (step S240), and this processing ends. By executing the normal amplitude processing, the sliding resistance between the spool 5 and the sleeve 4 of the valve portion 3 of the linear solenoid valve SL is sufficiently reduced, and the deterioration of the responsiveness of the linear solenoid valve SL and the reduction of response variation are sufficiently prevented. can be suppressed to

In step S122, it is determined that the current command value decrease rate Idn is equal to or greater than the threshold Idnref1 (the first condition is met), and in step S132 the current command value decrease rate Idn is less than the threshold Idnref2 (the second condition is met). not), it is determined that there is a third possibility and that there is no fourth possibility, and vibration reduction processing is executed to set the second amplitude Adiz2 to the dither amplitude Adiz. The process proceeds to vibration reduction processing (step S140). By executing the amplitude reduction process, when the stroke amount S2 fluctuates near or smaller than the predetermined stroke amount Sref2, the input of the sleeve 4 of the valve portion 3 is reduced compared to when the amplitude normal process is executed. Large fluctuations in the amount of communication between the chamber 40i and the output chamber 40o can be suppressed, and large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL can be suppressed.

Subsequently, similarly to the processing of steps S100 and S112, the current command value Is* is input and the current command value decrease rate Idn is calculated (steps S150 and S162). Then, it is determined whether or not the calculated current command value decrease rate Idn is less than the threshold value Idnref1 (the satisfaction of the first condition is resolved) (step S172), and the current command value decrease rate Idn is equal to or greater than the threshold value Idnref1 ( When it is determined that the first condition is not satisfied), the process returns to step S150. In this way, it waits until the current command value decrease rate Idn becomes less than the threshold value Idnref1 (the satisfaction of the first condition is canceled). Then, when it is determined in step S172 that the current command value decrease rate Idn is less than the threshold value Idnref1 (the satisfaction of the first condition is resolved), the dither amplitude Adiz is set to the first amplitude Adiz1, that is, the amplitude reduction process is terminated. The process proceeds to normal amplitude processing (step S240), and ends this processing.

In step S122, it is determined that the current command value decrease rate Idn is equal to or greater than the threshold Idnref1 (the first condition is met), and in step S132 the current command value decrease rate Idn is equal to or greater than the threshold Idnref2 (the second condition is met). ), it determines that there are the third and fourth possibilities, and sets the dither amplitude Adiz to the second amplitude Adiz2 in the same manner as in the process of step S140. As the process proceeds (step S180), the measurement of the duration Td of the amplitude reduction process is started (step S190). By executing the amplitude reduction process, as described above, when the stroke amount S2 fluctuates near or smaller than the predetermined stroke amount Sref2, the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 It is possible to suppress large fluctuations in the communication amount of the linear solenoid valve SL, and to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL.

Subsequently, similarly to the processing of steps S100 and S112, the current command value Is* is input and the current command value decrease rate Idn is calculated (steps S200 and S212). Then, it is determined whether or not the calculated current command value reduction rate Idn is less than the threshold value Idnref1 (the satisfaction of the first condition is canceled) (step S222), and the duration Td of the amplitude reduction process is equal to or greater than the predetermined time Tdref2. (step S230), and when it is determined that the current command value reduction rate Idn is equal to or greater than the threshold value Idnref1 (the satisfaction of the first condition is not resolved), or the duration Td of the amplitude reduction process is less than the predetermined time Tdref2, the process returns to step S200. In this way, it waits until the current command value decrease rate Idn reaches less than the threshold value Idnref1 (the satisfaction of the first condition is resolved) and the duration Td of the amplitude reduction process reaches the predetermined time Tdref2 or more. Then, in step S222, it is determined that the current command value reduction rate Idn is less than the threshold value Idnref1 (the satisfaction of the first condition is resolved), and in step S230, it is determined that the duration Td of the amplitude reduction process is equal to or greater than the predetermined time Tdref2. Then, the dither amplitude Adiz is set to the first amplitude Adiz1, that is, the amplitude reduction process is shifted to the normal amplitude process (step S240), and the process is terminated.

Here, the predetermined time Tdref2 is set in consideration of the controllability of the linear solenoid valve SL. When the current command value decrease rate Idn is equal to or greater than the threshold Idnref2, the current command value decrease rate Idn may be equal to or greater than the threshold Idnref1 for an extremely short time (the first condition is satisfied for an extremely short time). Therefore, when the current command value decrease rate Idn becomes less than the threshold value Idnref1 (the satisfaction of the first condition is canceled), the amplitude reduction process immediately shifts to the normal amplitude process regardless of the duration time Td of the amplitude reduction process. In this case, there is a possibility that the controllability of the spool 5 of the valve portion 3 of the linear solenoid valve SL will deteriorate due to normal amplitude processing, extremely short amplitude reduction processing, and normal amplitude processing. On the other hand, when the current command value decrease rate Idn reaches or exceeds the threshold value Idnref2 (both the first condition and the second condition are satisfied) and the normal amplitude process shifts to the amplitude reduction process, the current command value decrease rate Idn The amplitude reduction process is continued until the amplitude reduction process reaches less than the threshold value Idnref1 (the satisfaction of the first condition is canceled) and the duration time Td of the amplitude reduction process reaches the predetermined time Tdref2 or longer. As a result, deterioration in the controllability of the spool 5 of the valve portion 3 of the linear solenoid valve SL can be suppressed.

Next, the operation when engaging the hydraulic engagement element corresponding to the linear solenoid valve SL will be described. FIG. 8 shows the current command value Is*, the current command value reduction rate Idn, the dither amplitude Adiz, and the stroke amount S2 when the hydraulic engagement element is engaged when the linear solenoid valve SL is a normally open linear solenoid valve. 3 is an explanatory diagram showing an example of states of stroke amount average value S2av, hydraulic pressure command value Ps*, output hydraulic pressure Ps, and output hydraulic pressure average value Psav; FIG.

As shown in FIG. 8, when the hydraulic engagement element is engaged, there are filling processing (time t21 to t22), standby processing (time t22 to t23), pressure increasing processing (time t23 to t24), holding processing (from time t24) are executed in this order. As for the threshold Idnref1 for engaging the hydraulic engagement element, the current command value decrease rate Idn is equal to or greater than the threshold Idnref1 during the filling process and the pressure increasing process, and the current command value is equal to or greater than the threshold Idnref1 during the standby process and the holding process. The value decrease rate Idn is set to be less than the threshold Idnref1. Further, the threshold value Idnref2 for engaging the hydraulic engagement element is such that the current command value reduction rate Idn is equal to or greater than the threshold value Idnref2 during the filling process, and the current command value The value decrease rate Idn is set to be less than the threshold Idnref2. Further, the predetermined time Tdref2 is set as the filling process time.

The filling process is a process for changing the hydraulic pressure command value Ps* so that the engagement oil chamber of the hydraulic engagement element is rapidly filled with hydraulic oil. is increased to a relatively high value and held. At this time, the current command value Is* abruptly decreases from a relatively high value to a relatively low value and is held. It becomes equal to or greater than the threshold value Idnref2 for a short period of time and then returns to approximately zero. Further, as the current command value Is* is relatively high, sharply decreases to a relatively low value, and is held, the stroke amount average value S1av sharply decreases from a relatively large value to near the predetermined stroke amount Sref2. and the output hydraulic pressure average value Psav gradually increases from zero.

During the filling process, the output hydraulic pressure average value Psav is low and the hydraulic pressure of the feedback port 4f (feedback chamber 40f) is also low. When the value Is* is maintained at a relatively low value, the stroke amount average value S2av is maintained near the predetermined stroke amount Sref2.

The standby process is a process of abruptly decreasing the hydraulic pressure command value Ps* from a relatively high value for the filling process to a relatively low standby pressure and holding it. At this time, the current command value Is* sharply increases from a relatively low value for the filling process to a relatively high value and is held, and the current command value decrease rate Idn sharply increases the current command value Is*. Sometimes, the absolute value becomes relatively large within the negative range for a very short period of time from approximately zero, and then returns to approximately zero. Further, as the current command value Is* increases from a relatively low value for the filling process to a relatively high value and is held, the stroke amount average value S2av increases from near the predetermined stroke amount Sref2 and is held. , the output hydraulic pressure average value Psav gradually increases and approaches the hydraulic pressure command value Ps*.

The pressure increasing process is a process of gradually increasing the hydraulic pressure command value Ps* so that the hydraulic engagement element is engaged. Specifically, the hydraulic pressure command value Ps* is increased at a substantially constant rate of increase. At this time, the current command value Is* decreases at a substantially constant decrease rate, and the current command value decrease rate Idn becomes a value equal to or greater than the threshold Idnref1 and less than the threshold Idnref2. Further, as the current command value Is* gradually decreases, the stroke amount average value S2av decreases from a relatively large value during the standby process to near the predetermined stroke amount Sref2 and is held, and the output hydraulic pressure average value Psav gradually increases from a relatively small value during standby processing. Incidentally, when the output hydraulic pressure Ps from the output port 4o increases, the hydraulic pressure at the feedback port 4f (feedback chamber 40f) also increases.

The holding process is a process for holding the hydraulic pressure command value Ps*. At this time, the current command value Is* is held similarly to the hydraulic pressure command value Ps*, and the current command value decrease rate Idn becomes substantially zero. Further, since the current command value Is* is maintained and the hydraulic pressure in the feedback chamber 40f is high, the stroke amount average value S2av is increased to some extent from the vicinity of the predetermined stroke amount Sref2 and is maintained.

As shown in FIG. 8, when the current command value reduction rate Idn reaches the threshold value Idnref2 or more in the filling process at time t21 (when the first condition and the second condition are satisfied), the amplitude reduction process is executed. As a result, when the stroke amount S2 fluctuates around the predetermined stroke amount Sref2 in the filling process, the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 is suppressed from fluctuating greatly. , it is possible to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL. Further, when the current command value decrease rate Idn reaches the threshold value Idnref2 or more in the filling process (the first condition and the second condition are satisfied) and the amplitude reduction process is started, the current command value decrease rate Idn becomes less than the threshold value Idnref1. By continuing the amplitude reduction process (time t21 to t22) until the duration time Td of the amplitude reduction process reaches the predetermined time Tdref2 or more, the valve portion of the linear solenoid valve SL 3 can be suppressed from deteriorating in controllability of the spool 5. During the filling process, as described above, when the current command value decrease rate Idn reaches below the threshold value Idnref1 after reaching the threshold value Idnref2 or more and the current command value Is* is held at a relatively low value. , the output hydraulic pressure average value Psav is low and the hydraulic pressure at the feedback port 4f is low, so the stroke amount average value S2av is held near the predetermined stroke amount Sref2. From this point of view as well, it is significant to continue the amplitude reduction process until the duration Td of the amplitude reduction process reaches the predetermined time Tdref2 or more.

Further, when the current command value reduction rate Idn reaches the threshold value Idnref1 or more in the pressure increasing process at time t23, the amplitude reducing process is executed. As a result, when the stroke amount S2 fluctuates in the vicinity of the predetermined stroke amount Sref2 in the pressure increasing process, the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 is suppressed from fluctuating greatly. , it is possible to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL.

As described above, when the linear solenoid valve SL is a normally open linear solenoid valve, the ECU 6, when the current command value reduction rate Idn is less than the threshold value Idnref1 (the first condition is not satisfied), Amplitude normal processing for setting the first amplitude Adiz1 to the dither amplitude Adiz is executed, and when the current command value decrease rate Idn is equal to or greater than the threshold value Idnref1 (the first condition is satisfied), the dither amplitude Adiz is set to a value of 0 or greater. In addition, amplitude reduction processing is executed to set a second amplitude Adiz2 smaller than the first amplitude Adiz1. Then, current is supplied to the solenoid portion 2 based on the target voltage Vtag based on the current command value Is* based on the hydraulic pressure command value Ps* and the dither command value Vdiz of the dither amplitude Adiz. By such processing, when the stroke amount S2 fluctuates in the vicinity of or smaller than the predetermined stroke amount Sref2, the amount of communication between the input chamber 40i and the output chamber 40o of the sleeve 4 of the valve portion 3 fluctuates greatly. It is possible to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL.

When the current command value decrease rate Idn becomes equal to or greater than the threshold value Idnref1 and less than the threshold value Idnref2 (when the first condition is satisfied and the second condition is not satisfied) and the amplitude reduction process is started, the current command value decrease rate Idn becomes When the threshold value Idnref becomes less than the threshold value Idnref1 (when the satisfaction of the first condition is resolved), the vibration reduction process is terminated. However, in this case, the vibration reduction process may be terminated when a predetermined time has elapsed since the current command value decrease rate Idn became less than the threshold value Idnref1. The predetermined time is shorter than the above-described predetermined time Tdref2, for example, about 1 to 3 times the dither cycle Tdiz.

In the above-described embodiment, the ECU 6 includes an arithmetic processing unit 60 (hydraulic command value setting unit 61, current command value setting unit 62), a plurality of valve drive control units 70 (target voltage setting unit 71, dither command value setting unit 72). , current supply unit 73 (voltage superimposition unit 74, PWM signal generation unit 75, drive circuit 76), current detection unit 77, filter processing unit 78) are constructed as functional blocks. However, as shown in FIG. 9, the ECU 6 in FIG. 1 may be replaced with an ECU 6B. The ECU 6B of FIG. 9 is configured such that the target voltage setting section 71, the dither command value setting section 72, the voltage superimposing section 74, and the PWM signal generating section 75 of the ECU 6 of FIG. The ECU 6 is the same as the ECU 6 in FIG. 1 except that it is replaced with a superimposition section 74B and a PWM signal generation section 75B. Therefore, in the ECU 6B of FIG. 9, the same parts as those of the ECU 6 of FIG.

The target current setting unit 71B sets the target current Istag by feedback control based on the current command value Is* and the post-processing current Isf obtained by filtering the current Is. The dither command value setting unit 72B sets the dither amplitude Adiz by a process similar to the dither amplitude setting process of FIGS. A dither command value Idiz for varying the amplitude Adiz2, for example, in a sinusoidal shape is generated. The current superimposing unit 74B superimposes the dither command value Idiz on the target current Istag to generate a superimposed current command value Is2*. The PWM signal generator converts the superimposed current command value Is2* or a voltage based on the superimposed current command value Is2* and the resistance value of the solenoid portion 2 into a PWM signal and outputs the PWM signal to the drive circuit 76 . Even in this case, by setting the dither amplitude Adiz2 by the same processing as the dither amplitude setting processing of FIGS. can be sufficiently suppressed, and vibration reduction processing can be executed to suppress large fluctuations in the output oil pressure from the output port 4o of the linear solenoid valve SL.

Although the embodiments for carrying out the present disclosure have been described above, the present disclosure is not limited to such embodiments, and can be implemented in various forms without departing from the gist of the present disclosure. Of course.

INDUSTRIAL APPLICABILITY The present disclosure is applicable to industries such as the manufacturing industry of control devices for linear solenoid valves.

2 Solenoid Section 4 Sleeve 4i Input Port 4o Output Port 5 Spool 6 ECU (control device) 61 Hydraulic Command Value Setting Section 62 Current Command Value Setting Section Dither Command Value Setting Section 72, 73 Current Supply Section , SL linear solenoid valve.

Claims (5)

a sleeve having an input port and an output port; a spool slidably arranged in the sleeve; and a solenoid portion for moving the spool inside, wherein when the amount of communication is equal to or greater than a predetermined amount, the amount of communication per unit amount of movement of the spool is lower than when the amount of communication is less than the predetermined amount. A control device for a linear solenoid valve in which the amount of change in the amount of flow increases,
a hydraulic command value setting unit for setting a hydraulic command value for the linear solenoid valve;
a current command value setting unit that sets a current command value of the solenoid unit so that the current command value increases as the hydraulic pressure command value increases;
When the first condition that the current command value increase rate, which is the amount of increase in the current command value per unit time, is equal to or greater than the first threshold is not satisfied, a dither command value with a first amplitude is set, and the first condition is set. holds, a dither command value setting unit that sets the dither command value with a second amplitude that is equal to or greater than 0 and smaller than the first amplitude;
a current supply unit that supplies a current based on the current command value and the dither command value to the solenoid unit;
A control device for a linear solenoid valve, comprising: A control device for a linear solenoid valve according to claim 1,
When both the first condition and the second condition in which the current command value increase rate is equal to or greater than a second threshold larger than the first threshold are satisfied, the dither command value setting unit sets the first condition after that. setting the dither command value of the second amplitude until the establishment is canceled and a predetermined time elapses;
Control device for linear solenoid valves. a sleeve having an input port and an output port; a spool slidably arranged in the sleeve; and a solenoid portion for moving the spool inside, wherein when the amount of communication is equal to or greater than a predetermined amount, the amount of communication per unit amount of movement of the spool is lower than when the amount of communication is less than the predetermined amount. A control device for a linear solenoid valve in which the amount of change in the amount of flow increases,
a hydraulic command value setting unit for setting a hydraulic command value for the linear solenoid valve;
a current command value setting unit that sets a current command value of the solenoid unit so that the current command value decreases as the hydraulic pressure command value increases;
When the first condition that the current command value decrease rate, which is the amount of decrease in the current command value per unit time, is equal to or greater than the first threshold value is not satisfied, a dither command value with a first amplitude is set, and the first condition is set. holds, a dither command value setting unit that sets the dither command value with a second amplitude that is equal to or greater than 0 and smaller than the first amplitude;
a current supply unit that supplies a current based on the current command value and the dither command value to the solenoid unit;
A control device for a linear solenoid valve, comprising: A control device for a linear solenoid valve according to claim 3,
When both the first condition and the second condition in which the current command value decrease rate is equal to or greater than a second threshold value larger than the first threshold value are satisfied, the dither command value setting unit sets the first condition after that. setting the dither command value of the second amplitude until the establishment is canceled and a predetermined time elapses;
Control device for linear solenoid valves. A control device for a linear solenoid valve according to claim 2 or 4,
The linear solenoid valve is a valve that supplies hydraulic pressure to a hydraulic engagement element of the transmission,
the sleeve further has a feedback port communicating with the output port via an oil passage;
The hydraulic pressure command value setting section changes the hydraulic pressure command value so that an engagement oil chamber of the hydraulic engagement element is rapidly filled with hydraulic oil when the hydraulic engagement element is engaged. , standby processing for holding the hydraulic pressure command value at standby pressure, and pressure increasing processing for gradually increasing the hydraulic pressure command value so that the hydraulic engagement element is engaged, in this order;
The first threshold value and the second threshold value are set when the first condition is satisfied and the second condition is not satisfied during the pressure increasing process, and when the hydraulic pressure command value rises during the filling process. is set so that the second condition is satisfied only
Control device for linear solenoid valves.

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